基于Ackermann's formula的类反斜线回滞系统滑模控制  

SLIDING MODEL CONTROL BASEDON ACKERMANN'S FORMULA FORSYSTEMS WITH BACKLASH-LIKEHYSTERESIS

作　　者：张达科[1] 胡跃明[2] 郭华芳[1] 

机构地区：[1]广东省科学院自动化工程研制中心,广州510070 [2]华南理工大学自动化科学与工程学院,广州510640

出　　处：《机械工程学报》2005年第1期11-15,共5页Journal of Mechanical Engineering

基　　金：国家自然科学基金(69974015);广东省自然科学基金(990583);广东省教育厅"千百十工程"资助项目。

摘　　要：回滞现象广泛地存在于许多机械控制领域。由于回滞特性具有不可微性,从而使得对回滞系统的控制变得困难和复杂,同时由于回滞可能引起系统的振荡,甚至造成系统的不稳定,因此有必要对回滞系统的有效控制进行研究。考虑到回滞系统建模仍然是个研究的领域,针对类反斜线回滞系统进行研究。把类反斜线回滞模型分解为确定的线性部分和已知上界的不确定非线性部分,利用Ackermann's formula给出了类反斜线回滞系统的滑模控制律。仿真表明此滑模控制律是有效的,同时此滑模控制保证了整个系统的稳定性。Hysteresis widely exits in many mechanical control fields. It makes the control for systems with hysteresis difficult and complex, since hysteresis is non-differential. It is necessary to study the effective control of system with hysteresis since hysteresis brings the oscillation, and even instability to the systems. The subject of study focuses on the system with backlash-like hysteresis for the modeling of the systems with hysteresis is still been researching. Model of backlash-like hysteresis is first divided into two parts-certain linear one and uncertain but known-limit nonlinear one, and then a sliding control based on Ackermann's formula for the kind of systems is presented. The result of simulation shows the control is effective. The control also guarantees the stability of the whole system.

关 键 词：类反斜线回滞 滑模控制 Ackermann’s formula 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]